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Project: <a href="http://ros.org/wiki/par_ui">par_ui</a>
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License: BSD
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Dependencies: 
<ul>
  <li>std_msgs</li>
  <li>roscpp</li>
  <li>par_kinematics</li>
  <li>par_trajectory_planning</li>
  <li>tinyxml</li>
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Used by:
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<a href="../../index.html">All Packages</a>
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<h1>/home/wouter/ros_packages/thp-pj2-08/par_ui/src/par_utils.cpp File Reference</h1>  </div>
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<code>#include &lt;<a class="el" href="par__utils_8h_source.html">par_ui/par_utils.h</a>&gt;</code><br/>

<p><a href="par__utils_8cpp_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="par__utils_8cpp.html#a29c8f7bbfe2e9aa011bf0540863ec03a">configure_homing</a> (par_trajectory_planning::commands &amp;cmd)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Helper function for configuring the homing operation.  <a href="#a29c8f7bbfe2e9aa011bf0540863ec03a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="par__utils_8cpp.html#a05bc2492b4896b6738d0c181b6f75e4f">configure_PTP_motion</a> (ros::ServiceClient &amp;coord_client, par_kinematics::coord &amp;coords, par_trajectory_planning::commands &amp;cmd)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Helper function to configure PTP motions.  <a href="#a05bc2492b4896b6738d0c181b6f75e4f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="par__utils_8cpp.html#a16f93f2ae5fbda3b2800dce916d374a1">configure_single_motion</a> (par_trajectory_planning::commands &amp;cmd)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Helper function to configure single motions.  <a href="#a16f93f2ae5fbda3b2800dce916d374a1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="par__utils_8cpp.html#ae83fcdbeb2b6757fc741ae953b633ee1">menu</a> ()</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Simple menu for guiding the user through the application.  <a href="#ae83fcdbeb2b6757fc741ae953b633ee1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="par__utils_8cpp.html#a848151259ce1295c267886885658673a">pick_configuration_file</a> (const boost::filesystem::path &amp;directory, std::string &amp;file)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Helper function for selecting a configuration file.  <a href="#a848151259ce1295c267886885658673a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="par__utils_8cpp.html#a2e3efb87c9f9ddd6b48b0c10b9a3d3fa">push_angles</a> (ros::ServiceClient &amp;coord_client, par_kinematics::coord &amp;coords, par_trajectory_planning::commands &amp;cmd)</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Helper function to initialize xyz vector with coordinates.  <a href="#a2e3efb87c9f9ddd6b48b0c10b9a3d3fa"></a><br/></td></tr>
</table>
<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a29c8f7bbfe2e9aa011bf0540863ec03a"></a><!-- doxytag: member="par_utils.cpp::configure_homing" ref="a29c8f7bbfe2e9aa011bf0540863ec03a" args="(par_trajectory_planning::commands &amp;cmd)" -->
<div class="memitem">
<div class="memproto">
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          <td class="memname">void configure_homing </td>
          <td>(</td>
          <td class="paramtype">par_trajectory_planning::commands &amp;&nbsp;</td>
          <td class="paramname"> <em>cmd</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Helper function for configuring the homing operation. </p>
<p>Function for configuring homing parameters.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>cmd</em>&nbsp;</td><td>Object with instructions for the motion. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="par__utils_8cpp_source.html#l00147">147</a> of file <a class="el" href="par__utils_8cpp_source.html">par_utils.cpp</a>.</p>

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<a class="anchor" id="a05bc2492b4896b6738d0c181b6f75e4f"></a><!-- doxytag: member="par_utils.cpp::configure_PTP_motion" ref="a05bc2492b4896b6738d0c181b6f75e4f" args="(ros::ServiceClient &amp;coord_client, par_kinematics::coord &amp;coords, par_trajectory_planning::commands &amp;cmd)" -->
<div class="memitem">
<div class="memproto">
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        <tr>
          <td class="memname">void configure_PTP_motion </td>
          <td>(</td>
          <td class="paramtype">ros::ServiceClient &amp;&nbsp;</td>
          <td class="paramname"> <em>coord_client</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">par_kinematics::coord &amp;&nbsp;</td>
          <td class="paramname"> <em>coords</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">par_trajectory_planning::commands &amp;&nbsp;</td>
          <td class="paramname"> <em>cmd</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Helper function to configure PTP motions. </p>
<p>Function for configuring PTP motions.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>coord_client</em>&nbsp;</td><td>Object for requesting coordinates. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>coords</em>&nbsp;</td><td>Object with coordinates from the kinematic model. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>cmd</em>&nbsp;</td><td>Object with instructions for the motion. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="par__utils_8cpp_source.html#l00081">81</a> of file <a class="el" href="par__utils_8cpp_source.html">par_utils.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="a16f93f2ae5fbda3b2800dce916d374a1"></a><!-- doxytag: member="par_utils.cpp::configure_single_motion" ref="a16f93f2ae5fbda3b2800dce916d374a1" args="(par_trajectory_planning::commands &amp;cmd)" -->
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      <table class="memname">
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          <td class="memname">void configure_single_motion </td>
          <td>(</td>
          <td class="paramtype">par_trajectory_planning::commands &amp;&nbsp;</td>
          <td class="paramname"> <em>cmd</em></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Helper function to configure single motions. </p>
<p>Function configuring a single motion.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>cmd</em>&nbsp;</td><td>Object with instructions for the motion. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="par__utils_8cpp_source.html#l00034">34</a> of file <a class="el" href="par__utils_8cpp_source.html">par_utils.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="ae83fcdbeb2b6757fc741ae953b633ee1"></a><!-- doxytag: member="par_utils.cpp::menu" ref="ae83fcdbeb2b6757fc741ae953b633ee1" args="()" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">int menu </td>
          <td>(</td>
          <td class="paramname"></td>
          <td>&nbsp;)&nbsp;</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Simple menu for guiding the user through the application. </p>
<p>The menu presented to the user.</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>User's menu choice. </dd></dl>

<p>Definition at line <a class="el" href="par__utils_8cpp_source.html#l00173">173</a> of file <a class="el" href="par__utils_8cpp_source.html">par_utils.cpp</a>.</p>

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<a class="anchor" id="a848151259ce1295c267886885658673a"></a><!-- doxytag: member="par_utils.cpp::pick_configuration_file" ref="a848151259ce1295c267886885658673a" args="(const boost::filesystem::path &amp;directory, std::string &amp;file)" -->
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        <tr>
          <td class="memname">void pick_configuration_file </td>
          <td>(</td>
          <td class="paramtype">const boost::filesystem::path &amp;&nbsp;</td>
          <td class="paramname"> <em>directory</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::string &amp;&nbsp;</td>
          <td class="paramname"> <em>file</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
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<div class="memdoc">

<p>Helper function for selecting a configuration file. </p>
<p>Function for choosing a configuration file.</p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>directory</em>&nbsp;</td><td>Contains base path for configuration files. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>file</em>&nbsp;</td><td>the selected file. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="par__utils_8cpp_source.html#l00121">121</a> of file <a class="el" href="par__utils_8cpp_source.html">par_utils.cpp</a>.</p>

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</div>
<a class="anchor" id="a2e3efb87c9f9ddd6b48b0c10b9a3d3fa"></a><!-- doxytag: member="par_utils.cpp::push_angles" ref="a2e3efb87c9f9ddd6b48b0c10b9a3d3fa" args="(ros::ServiceClient &amp;coord_client, par_kinematics::coord &amp;coords, par_trajectory_planning::commands &amp;cmd)" -->
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          <td class="memname">void push_angles </td>
          <td>(</td>
          <td class="paramtype">ros::ServiceClient &amp;&nbsp;</td>
          <td class="paramname"> <em>coord_client</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">par_kinematics::coord &amp;&nbsp;</td>
          <td class="paramname"> <em>coords</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">par_trajectory_planning::commands &amp;&nbsp;</td>
          <td class="paramname"> <em>cmd</em></td><td>&nbsp;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Helper function to initialize xyz vector with coordinates. </p>
<p>Function that asks kinematic model for motor angles.</p>
<p>Author: W. van Teijlingen &lt;<a href="mailto:wouter.vanteijlingen@student.hu.nl">wouter.vanteijlingen@student.hu.nl</a>&gt; </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table border="0" cellspacing="2" cellpadding="0">
    <tr><td valign="top"></td><td valign="top"><em>coord_client</em>&nbsp;</td><td>Object for requesting coordinates. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>coords</em>&nbsp;</td><td>Object with coordinates from the kinematic model. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>cmd</em>&nbsp;</td><td>Object with instructions for the motion. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="par__utils_8cpp_source.html#l00013">13</a> of file <a class="el" href="par__utils_8cpp_source.html">par_utils.cpp</a>.</p>

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<hr size="1"><div style="align: right;">
<a href="http://ros.org/wiki/par_ui">par_ui</a><br />
Author(s): Wouter van Teijlingen</br />
<small>autogenerated on Mon Jun 13 2011 17:06:40</small>
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